function joint_vel= forwardKinematics(joint_pos,cartesian_vel, l)
    % Compute the forward kinematics of a 2-R robot
    % Compute jacobi
    J = [-l*(sin(joint_pos(1,1))+sin(joint_pos(1,1)+joint_pos(2,1)))   -l*sin(joint_pos(1,1)+joint_pos(2,1));...
        l*(cos(joint_pos(1,1))+sin(joint_pos(1,1)+joint_pos(2,1)))  l*cos(joint_pos(1,1)+joint_pos(2,1))];
    joint_vel = J \ cartesian_vel;
end
